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<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle">
<div class="title">Projection<div class="ingroups"><a class="el" href="../../d8/d8c/group__sfm.html">Structure From Motion</a></div></div>  </div>
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Functions</h2></td></tr>
<tr class="memitem:ga8b5e5413af41caf3f2a0bbf4cdf517a8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/daf/group__projection.html#ga8b5e5413af41caf3f2a0bbf4cdf517a8">cv::sfm::depth</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> t, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> X)</td></tr>
<tr class="memdesc:ga8b5e5413af41caf3f2a0bbf4cdf517a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the depth of a point transformed by a rigid transform.  <a href="../../d0/daf/group__projection.html#ga8b5e5413af41caf3f2a0bbf4cdf517a8">More...</a><br /></td></tr>
<tr class="separator:ga8b5e5413af41caf3f2a0bbf4cdf517a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gaed1efbb8c79c48bfaaa78118bf2c3694"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/daf/group__projection.html#gaed1efbb8c79c48bfaaa78118bf2c3694">cv::sfm::euclideanToHomogeneous</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst)</td></tr>
<tr class="memdesc:gaed1efbb8c79c48bfaaa78118bf2c3694"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts points from Euclidean to homogeneous space. E.g., ((x,y)-&gt;(x,y,1))  <a href="../../d0/daf/group__projection.html#gaed1efbb8c79c48bfaaa78118bf2c3694">More...</a><br /></td></tr>
<tr class="separator:gaed1efbb8c79c48bfaaa78118bf2c3694"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gafe4dd53eb700167a5c4ad51375cb2442"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/daf/group__projection.html#gafe4dd53eb700167a5c4ad51375cb2442">cv::sfm::homogeneousToEuclidean</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> src, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> dst)</td></tr>
<tr class="memdesc:gafe4dd53eb700167a5c4ad51375cb2442"><td class="mdescLeft">&#160;</td><td class="mdescRight">Converts point coordinates from homogeneous to euclidean pixel coordinates. E.g., ((x,y,z)-&gt;(x/z, y/z))  <a href="../../d0/daf/group__projection.html#gafe4dd53eb700167a5c4ad51375cb2442">More...</a><br /></td></tr>
<tr class="separator:gafe4dd53eb700167a5c4ad51375cb2442"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga5745ac7685e46f69eac7f517e788b059"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/daf/group__projection.html#ga5745ac7685e46f69eac7f517e788b059">cv::sfm::KRtFromProjection</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> P, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> t)</td></tr>
<tr class="memdesc:ga5745ac7685e46f69eac7f517e788b059"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get K, R and t from projection matrix P, decompose using the RQ decomposition.  <a href="../../d0/daf/group__projection.html#ga5745ac7685e46f69eac7f517e788b059">More...</a><br /></td></tr>
<tr class="separator:ga5745ac7685e46f69eac7f517e788b059"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2daa5a23fd362c8950ff9256c690fed8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/daf/group__projection.html#ga2daa5a23fd362c8950ff9256c690fed8">cv::sfm::projectionFromKRt</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> K, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> R, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> t, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> P)</td></tr>
<tr class="memdesc:ga2daa5a23fd362c8950ff9256c690fed8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get projection matrix P from K, R and t.  <a href="../../d0/daf/group__projection.html#ga2daa5a23fd362c8950ff9256c690fed8">More...</a><br /></td></tr>
<tr class="separator:ga2daa5a23fd362c8950ff9256c690fed8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Function Documentation</h2>
<a id="ga8b5e5413af41caf3f2a0bbf4cdf517a8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga8b5e5413af41caf3f2a0bbf4cdf517a8">&#9670;&nbsp;</a></span>depth()</h2>

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          <td class="memname">double cv::sfm::depth </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>X</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d0/dbd/projection_8hpp.html">opencv2/sfm/projection.hpp</a>&gt;</code></p>

<p>Returns the depth of a point transformed by a rigid transform. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">R</td><td>Input 3x3 rotation matrix. </td></tr>
    <tr><td class="paramname">t</td><td>Input 3x1 translation vector. </td></tr>
    <tr><td class="paramname">X</td><td>Input 3x1 or 4x1 vector with the 3d point. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="gaed1efbb8c79c48bfaaa78118bf2c3694"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gaed1efbb8c79c48bfaaa78118bf2c3694">&#9670;&nbsp;</a></span>euclideanToHomogeneous()</h2>

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          <td class="memname">void cv::sfm::euclideanToHomogeneous </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>dst</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d0/dbd/projection_8hpp.html">opencv2/sfm/projection.hpp</a>&gt;</code></p>

<p>Converts points from Euclidean to homogeneous space. E.g., ((x,y)-&gt;(x,y,1)) </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">dst</td><td>Output vector of N+1-dimensional points. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="gafe4dd53eb700167a5c4ad51375cb2442"></a>
<h2 class="memtitle"><span class="permalink"><a href="#gafe4dd53eb700167a5c4ad51375cb2442">&#9670;&nbsp;</a></span>homogeneousToEuclidean()</h2>

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<div class="memproto">
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          <td class="memname">void cv::sfm::homogeneousToEuclidean </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>dst</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d0/dbd/projection_8hpp.html">opencv2/sfm/projection.hpp</a>&gt;</code></p>

<p>Converts point coordinates from homogeneous to euclidean pixel coordinates. E.g., ((x,y,z)-&gt;(x/z, y/z)) </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">src</td><td>Input vector of N-dimensional points. </td></tr>
    <tr><td class="paramname">dst</td><td>Output vector of N-1-dimensional points. </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="memtitle"><span class="permalink"><a href="#ga5745ac7685e46f69eac7f517e788b059">&#9670;&nbsp;</a></span>KRtFromProjection()</h2>

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          <td class="memname">void cv::sfm::KRtFromProjection </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>P</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>t</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d0/dbd/projection_8hpp.html">opencv2/sfm/projection.hpp</a>&gt;</code></p>

<p>Get K, R and t from projection matrix P, decompose using the RQ decomposition. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">P</td><td>Input 3x4 projection matrix. </td></tr>
    <tr><td class="paramname">K</td><td>Output 3x3 camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). </td></tr>
    <tr><td class="paramname">R</td><td>Output 3x3 rotation matrix. </td></tr>
    <tr><td class="paramname">t</td><td>Output 3x1 translation vector.</td></tr>
  </table>
  </dd>
</dl>
<p>Reference: <a class="el" href="../../d0/de3/citelist.html#CITEREF_HartleyZ00">[103]</a> A4.1.1 pag.579 </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ga2daa5a23fd362c8950ff9256c690fed8">&#9670;&nbsp;</a></span>projectionFromKRt()</h2>

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          <td class="memname">void cv::sfm::projectionFromKRt </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>K</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>R</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a>&#160;</td>
          <td class="paramname"><em>t</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a>&#160;</td>
          <td class="paramname"><em>P</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p><code>#include &lt;<a class="el" href="../../d0/dbd/projection_8hpp.html">opencv2/sfm/projection.hpp</a>&gt;</code></p>

<p>Get projection matrix P from K, R and t. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">K</td><td>Input 3x3 camera matrix \(K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\). </td></tr>
    <tr><td class="paramname">R</td><td>Input 3x3 rotation matrix. </td></tr>
    <tr><td class="paramname">t</td><td>Input 3x1 translation vector. </td></tr>
    <tr><td class="paramname">P</td><td>Output 3x4 projection matrix.</td></tr>
  </table>
  </dd>
</dl>
<p>This function estimate the projection matrix by solving the following equation: \(P = K * [R|t]\) </p>

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